EP4083724A1 - Système de commande d'un bras d'un véhicule de construction - Google Patents

Système de commande d'un bras d'un véhicule de construction Download PDF

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Publication number
EP4083724A1
EP4083724A1 EP22170394.5A EP22170394A EP4083724A1 EP 4083724 A1 EP4083724 A1 EP 4083724A1 EP 22170394 A EP22170394 A EP 22170394A EP 4083724 A1 EP4083724 A1 EP 4083724A1
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EP
European Patent Office
Prior art keywords
jerk
current time
time instant
indicative
transmission state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP22170394.5A
Other languages
German (de)
English (en)
Other versions
EP4083724B1 (fr
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4083724A1 publication Critical patent/EP4083724A1/fr
Application granted granted Critical
Publication of EP4083724B1 publication Critical patent/EP4083724B1/fr
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/415—Wheel loaders
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H2059/366—Engine or motor speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/68—Inputs being a function of gearing status
    • F16H2059/6838—Sensing gearing status of hydrostatic transmissions
    • F16H2059/6861—Sensing gearing status of hydrostatic transmissions the pressures, e.g. high, low or differential pressures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/44—Inputs being a function of speed dependent on machine speed of the machine, e.g. the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40256—Large, heavy manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator

Definitions

  • the present invention concerns an improved control system for controlling a controllable arm of a heavy vehicle, in particular a control system for automatically reducing a jerk of the controllable arm when the heavy vehicle is in digging operation and is travelling in reverse direction, in order to allow for lower aggressive digging manoeuvres.
  • the present invention concerns a related control method for controlling the controllable arm, a computer program product executing the control method, a heavy vehicle comprising the control system, and a control unit comprised in the control system.
  • a heavy vehicle provided with a controllable arm is suitable to perform different tasks due to its arm capability and its ability to manipulate, carry and dump a load.
  • Examples of such heavy vehicle are a wheel loader, a telehandler or an excavator, where the controllable arm carries, for example, a bucket.
  • the drivers driving them and controlling the controllable arm must carefully operate the controllable arm when the latter is loaded, in order to avoid spilling of the loaded product (e.g., soil, grain, etc.).
  • the drivers in order to be more efficient and reduce the overall time to perform the required task, the drivers generally fully fill the bucket with the loaded product and manually control the controllable arm in rapidly performing consecutive manoeuvres, so that it is not unusual that part of the loaded product spills over and falls on the ground, thus forcing the drivers to perform additional manoeuvres to recover the spilled-over material and increasing the overall time and complexity of the task.
  • An aim of the present invention is to satisfy the above-mentioned needs.
  • FIG 1 shows, in a triaxial Cartesian reference system defined by axis X, Y and Z, a vehicle 10 provided with a controllable arm 12.
  • the vehicle 10 is a heavy vehicle (in details, a work vehicle), such as a compact wheel loader, a telehandler or an excavator ( Figure 1 shows a compact wheel loader), driven by a user.
  • the controllable arm 12 comprises a bucket 14 and a boom 12' coupling the bucket 14 to a main body of the vehicle 10.
  • the controllable arm 12 is provided with at least one joint 16 actuated by a respective joint actuator 17 (hydraulic actuator, in particular a cylindrical actuator).
  • a respective joint actuator 17 hydroaulic actuator, in particular a cylindrical actuator.
  • Figure 1 shows the controllable arm 12 having two joints 16 (i.e., a tilt joint and a boom lift joint, indicated respectively with the reference numerals 16a and 16b) and three respective joint actuators 17 (i.e., a tilt actuator and two boom lift actuators, indicated respectively with the reference numerals 17a and 17b).
  • the vehicle 10 includes an input command acquisition device 19, such as a joystick (in the following indicated as joystick 19), for example placed in a cabin 11 of the vehicle 10.
  • a joystick in the following indicated as joystick 19
  • the user operates the joystick 19 to control the controllable arm 12, i.e. to control the trajectory of the controllable arm 12.
  • the user manually selects a level of jerk of the vehicle 10 (also called in the following manually selected jerk) among a plurality of manually selectable jerks when the vehicle 10 is not in a predefined working mode (e.g., digging operation) and the vehicle 10 is travelling in forward direction, while the jerk level is automatically selected when the vehicle 10 is in the predefined working mode and the vehicle 10 is not travelling in forward direction (e.g., is travelling in reverse direction).
  • a level of jerk of the vehicle 10 also called in the following manually selected jerk
  • the user manually controls the level of jerk of the controllable arm 12, so that the aggressiveness of the manoeuvre carried out by the controllable arm 12 can be modified depending on the vehicle working conditions and situations.
  • the user can choose among a plurality of jerk levels (e.g., 1 to 3, where 1 corresponds to low jerk, 2 corresponds to medium jerk and 3 corresponds to high jerk) to set a lower aggressiveness of the manoeuvre of the controllable arm 12 (suitable for manoeuvres requiring slow movements and high accuracy) or a higher aggressiveness of the manoeuvre of the controllable arm 12 (suitable for manoeuvres requiring fast movements and low accuracy).
  • the jerk level is set by the user by operating an aggressiveness setting mean 29 that can be, as non-limiting examples, an aggressiveness setting switch 29, for example carried by the joystick 19 or by the vehicle 10 (e.g., located in the cabin 11).
  • the vehicle 10 further comprises an engine 20 (e.g., a thermal engine) mechanically coupled to an arm pump 49 (e.g., hydraulic pump).
  • the vehicle 10 further comprises an arm hydraulic circuit 56 including the joint actuators 17 and the arm pump 49 providing hydraulic power to the joint actuators 17 in order to actuate the joints 16 of the controllable arm 12.
  • the arm pump 49 pumps a fluid (e.g., a substantially incompressible fluid such as oil) to the joint actuators 17, thus actuating the latter.
  • a fluid e.g., a substantially incompressible fluid such as oil
  • the vehicle 10 further comprises a motor hydraulic circuit 26 with a hydraulic pump 24 mechanically coupled to the engine 20 and a hydraulic motor 27 powered by the hydraulic pump 24 and powering a driveline 22 of the vehicle 10.
  • the hydraulic pump 24 pumps a fluid (e.g., a substantially incompressible fluid such as oil) to the hydraulic motor 27, thus actuating the latter.
  • the hydraulic pump 24 is fluidly connected to a first conduit, referred to in the following as forward hydraulic line 24a, extending between the hydraulic pump 24 and the hydraulic motor 27 and being pressurized when the vehicle 10 moves forward; and the hydraulic pump 24 is fluidly connected to a second conduit, referred to in the following as reverse hydraulic line 24b, extending between the hydraulic pump 24 and the hydraulic motor 27 and being pressurized when the vehicle 10 moves rearward.
  • forward hydraulic line 24a extending between the hydraulic pump 24 and the hydraulic motor 27 and being pressurized when the vehicle 10 moves forward
  • reverse hydraulic line 24b extending between the hydraulic pump 24 and the hydraulic motor 27 and being pressurized when the vehicle 10 moves rearward.
  • the vehicle 10 comprises an electric motor (not shown) powering the driveline 22.
  • a control unit 30 (e.g., a vehicle control unit or a dedicated controller or control unit) of the vehicle 10 is electrically coupled to the joint actuators 17.
  • the control unit 30 acquires input data from the vehicle 10 and, based on these input data, controls the joint actuators 17.
  • the control unit 30 comprises a data storage unit 34 (referred to in the following as memory 34, such as a RAM memory) and an elaboration unit 36 electrically coupled between them.
  • control unit 30 receives sensor signals from a plurality of sensor means.
  • the sensor signals are indicative of working conditions of the vehicle 10, such as of a digging operation.
  • the control unit 30 receives a vehicle speed signal from a vehicle speed sensor 40 carried by the vehicle 10.
  • the vehicle speed signal is indicative of a speed of the vehicle 10 travelling on the ground.
  • the vehicle speed is obtained from a wheel speed sensor of a known type, or is calculated based on an engine rotation speed.
  • the control unit 30 further receives a transmission state signal indicative of a currently engaged state of a transmission of the vehicle 10 (i.e., forward, neutral or reverse transmission).
  • a transmission state signal indicative of a currently engaged state of a transmission of the vehicle 10 (i.e., forward, neutral or reverse transmission).
  • the transmission state signal is acquired from a FNR switch 42 of the vehicle 10, of a per se known type.
  • the control unit 30 further receives a hydraulic function state signal indicative of a state of the arm hydraulic circuit 56 (i.e., the arm hydraulic circuit 56 is enabled or disabled, and the fluid is circulating in the arm hydraulic circuit 56 or not, thus providing or not power to the joint actuators 17).
  • a hydraulic function state signal is acquired from a hydraulic function activation switch 44 of the vehicle 10, of a per se known type, switching on or off the arm hydraulic circuit 56 (i.e., controlling the joint actuators 17).
  • the control unit 30 further receives hydraulic pressure signals from one or more pressure sensors 46 in the motor hydraulic circuit 26, indicative of the hydraulic pressure of the fluid circulating in the motor hydraulic circuit 26.
  • a first hydraulic pressure signal is received from a first pressure sensor 46a, placed in the forward hydraulic line 24a of the motor hydraulic circuit 26.
  • a second hydraulic pressure signal is received from a second pressure sensor 46b, placed in the reverse hydraulic line 24b of the motor hydraulic circuit 26 so that the control unit 30 can compute a relative difference of the first and second hydraulic pressure signals.
  • the control unit 30 further acquires, from one or more engine sensors 48 carried by the engine 20, an engine speed signal indicative of the rotational speed of the engine 20.
  • the one or more engine sensors 48 are rotational speed sensors.
  • the control unit 30 further acquires a boom position signal and a bucket position signal from arm position sensors 28 carried by the controllable arm 12, the boom position signal and the bucket position signal being indicative of the positions of the boom 12' and, respectively, of the bucket 14.
  • the arm position sensors 28 acquire data of the joints 16 (e.g., in the joint space) .
  • the arm position sensors 28 comprise a tilt angular sensor 28a coupled to the tilt joint 16a and a boom angular sensor 28b coupled to the boom lift joint 16b.
  • the tilt angular sensor 28a and the boom angular sensor 28b acquire the angular positions of the tilt joint 16a and, respectively, of the boom lift joint 16b.
  • the positions of the boom 12' and of the bucket 14 are calculated accorded to per se known techniques, for example by the control unit 10.
  • the position of the boom 12' is calculated as a relative angle of the boom 12' with respect to the ground position (e.g., an angular displacement of the boom 12' with respect to an angular position of the boom 12' when the latter is set in ground position, e.g. when the boom lift actuators 17b are fully retracted) and the position of the bucket 14 is calculated as a relative angle of the bucket 14 with respect to a dumping position of the bucket 14 (e.g., an angular displacement of the bucket 14 with respect to an angular position of the bucket 14 when the latter is set in dumping position, e.g. when the tilt actuator 17a is fully retracted).
  • the control unit 30 further acquires a pump signal indicative of a control current of the displacement of the hydraulic pump 24.
  • the displacement of the hydraulic pump 24 is controllable through an input current (i.e., the control current) that is a function of the engine speed and, more in details, is based on a characteristic curve in two variables that are the engine speed and the input current previously used.
  • the pump signal is acquired from a pump control mean 50 operable to control the displacement of the hydraulic pump 24.
  • the control unit 30 further acquires the selected jerk level set by the user through the aggressiveness setting switch 29.
  • these signals are acquired at t*- ⁇ T ⁇ t ⁇ t*.
  • the acquired signals are temporarily stored in the memory 34.
  • the control unit 30 compares the vehicle speed signal, the transmission state signal, the hydraulic function state signal, the first hydraulic pressure signal, the engine speed signal, the boom and bucket position signals and the pump signal, acquired during the preceding predetermined period of time ⁇ T, with respective reference signals that are, for example, stored in the memory 34. This is done to assess if a predetermined working condition (i.e., digging condition and reverse engaged) of the vehicle 10 is verified.
  • a predetermined working condition i.e., digging condition and reverse engaged
  • the jerk command generated by the control unit 30 is used to control the controllable arm 12, according to per se known techniques.
  • the predetermined jerk level is the lowest jerk level that the user can manually select (i.e., jerk level equal to 1), thus corresponding to the lowest aggressiveness that can be selected for the control of the controllable arm 12.
  • a predefined jerk quantity e.g., if the user selects the jerk level to be equal to 3 and the predefined jerk quantity is equal to 1, the predetermined jerk level is 2
  • the predetermined jerk level is lower than any jerk level that can be manually selected by the user (e.g., the predetermined jerk level is 0), so that the aggressiveness of the manoeuvre of the controllable arm 12 is minimized.
  • the duration of the preceding predetermined period of time ⁇ T can be manually selected by the user, for example at the starting of the vehicle 10. According to a non-limiting example, the preceding predetermined period of time ⁇ T is about 3 seconds.
  • the control unit 30, the aggressiveness setting switch 29, the engine sensors 48, the vehicle speed sensor 40, the FNR switch 42, the hydraulic function activation switch 44, the pump control mean 50, the arm position sensors 28, the pressure sensors 46 and optionally the joystick 19 form a control system of the vehicle 10.
  • the control system implements, by means of the control unit 30, a control method as previously discussed to generate the jerk command and thus to control the controllable arm 12.
  • control system of the vehicle 10 allows to automatically reduce the jerk of the controllable arm 12 when the vehicle 10 is in digging operation and is travelling in reverse direction (i.e., the transmission state is reverse state), so that a product (e.g., soil, grain, etc.) loaded in the bucket 14 is not spilled over on the ground while the vehicle 10 is performing the manoeuvres. Nonetheless, when the vehicle 10 is not in digging operation and is travelling in forward direction, the jerk is the one manually selected by the user, so that in this case the controllable arm 12 can be operated with an higher aggressiveness (i.e., at higher speed) that is chosen by the user.
  • the transmission state is reverse state
  • This automatic control increases the comfort and the efficiency of the user driving the vehicle 10 during digging operations.
  • the digging operation is simplified and its efficiency is optimized.
  • the aggressiveness is the one manually selected by the user while, when the user engages the reverse with the bucket 14 fully loaded, the boom and bucket aggressiveness is automatically reduced in order to avoid spilling over of the loaded product from the bucket 14, thus increasing the comfort of the user and the efficiency of the operation.
  • the selected jerk command can be a jerk level (i.e., constant value of jerk) or a jerk profile (i.e., time-dependent and time-varying profiles of jerk).
  • the bucket 14 can be substituted by a more general loading element (e.g., a manure bucket or a fork).
  • a more general loading element e.g., a manure bucket or a fork.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
EP22170394.5A 2021-04-28 2022-04-27 Système de commande d'un bras d'un véhicule de construction Active EP4083724B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000010748A IT202100010748A1 (it) 2021-04-28 2021-04-28 Sistema di controllo migliorato per controllare un braccio azionabile di un veicolo pesante

Publications (2)

Publication Number Publication Date
EP4083724A1 true EP4083724A1 (fr) 2022-11-02
EP4083724B1 EP4083724B1 (fr) 2024-10-16

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EP22170394.5A Active EP4083724B1 (fr) 2021-04-28 2022-04-27 Système de commande d'un bras d'un véhicule de construction

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EP (1) EP4083724B1 (fr)
IT (1) IT202100010748A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6633805B2 (en) * 2001-07-13 2003-10-14 Deere & Company Control system for reverser transmission having aggressive and non-aggressive modes
US10464565B2 (en) * 2017-12-11 2019-11-05 Caterpillar Inc. Propulsion control system with varying aggressiveness of response
EP3719356A1 (fr) * 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Transmission hydrostatique pour un véhicule de travail doté d'un système de réduction des secousses lors de man uvres d'inversion de la direction

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6633805B2 (en) * 2001-07-13 2003-10-14 Deere & Company Control system for reverser transmission having aggressive and non-aggressive modes
US10464565B2 (en) * 2017-12-11 2019-11-05 Caterpillar Inc. Propulsion control system with varying aggressiveness of response
EP3719356A1 (fr) * 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Transmission hydrostatique pour un véhicule de travail doté d'un système de réduction des secousses lors de man uvres d'inversion de la direction

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Publication number Publication date
EP4083724B1 (fr) 2024-10-16
IT202100010748A1 (it) 2022-10-28

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